Two robots are shown cooperating with each other to manipulate a long shaft to insert it into
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The specifications require a steady-state error for a unit ramp input of 0.02, and the step response has an overshoot of less than 15% with a settling time (with a 2% criterion) of less than 1 second. Determine a lead lag compensator that will meet the specifications, and plot the compensated responses for the ramp and step inputs.
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